/*********************************************************************
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2017, Yannick Jonetzko
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of Willow Garage nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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/* Author: Yannick Jonetzko */

#pragma once

#ifndef Q_MOC_RUN
#include <ros/ros.h>
#endif

#include <rviz/panel.h>

#include <QSlider>
#include <QLabel>
#include <QPushButton>

namespace moveit_rviz_plugin {
class TaskSolutionPanel : public rviz::Panel
{
	Q_OBJECT

public:
	TaskSolutionPanel(QWidget* parent = nullptr);

	~TaskSolutionPanel() override;

	void onInitialize() override;
	void onEnable();
	void onDisable();
	void update(int way_point_count);

	// Switches between pause and play mode
	void pauseButton(bool check);

	void setSliderPosition(int position);

	int getSliderPosition() const { return slider_->sliderPosition(); }

	bool isPaused() const { return paused_; }

private Q_SLOTS:
	void sliderValueChanged(int value);
	void buttonClicked();

protected:
	QSlider* slider_;
	QLabel* maximum_label_;
	QLabel* minimum_label_;
	QPushButton* button_;

	bool paused_;
	bool empty_;
};

}  // namespace moveit_rviz_plugin
